Growing system and method

ABSTRACT

A growing system, which includes: at least one growing space having different locations for plants, a robotic arm provided with at least one tool, and a moving element arranged to move the robotic arm between the different location; an electronic and/or computerized communication element; and a remote control station which is at a distance from the at least one growing space and includes a control element arranged to control the robotic arm in each growing space via the communication element, the control element being arranged to control the moving element so as to move the robotic arm in the growing space between the different locations in the growing space and/or to control actions of the robotic arm in said growing space. Also, a corresponding method utilizing the growing system.

FIELD OF INVENTION

The present invention relates to a growing system. It also relates to agrowing process. Such a system allows a user to grow plants.

The field of the invention is more particularly but in a nonlimitingmanner that of vertical growing.

BACKGROUND OF INVENTION

US 2012/324788 A1 describes an apparatus for cultivating plants, inwhich several storage shelves are superimposed to save space.

US 2002/088173 A1 describes an automated system for providing acontinuous yield of fresh agricultural products.

US 2018/146618 A1 describes robots for the autonomous harvesting ofhydroponic crops with different harvesters.

Vertical growing defines the growing of plants in tubs arranged oneabove the other, typically up to 10 meters high.

Under these conditions, the maintenance of plants located at heightrequires for the cultivator a ladder or a forklift which has thefollowing drawbacks:

-   -   this is not very comfortable for the exercise of his work,    -   this can be dangerous, and    -   this represents a waste of space in the farm necessary to let it        handle.

In the event that the farm is made up of several alleys of plants, it isalso necessary to leave a space between the rows of plants to allow themovement of the cultivator and the machine which allows him to climb tothe bins at heights (minimum 1 m between each row).

In the case of a soilless and pesticide-free growing, there is also thefollowing drawback:

-   -   plants are all the more vulnerable to pathogens (viruses,        bacteria, larvae) which are transported by the air or carried by        the farmer.

It is possible to add a sterilization lock to prevent contamination ofthe plants, but this has the following drawbacks:

-   -   this implies a loss of space,    -   this implies complexity for the grower and    -   this implies a waste of time on his work.

In a concept where small farms are meant to be deployed in very diverseplaces around the world, this would require finding farmers there andtraining them, but this has the following drawback:

-   -   this limits the deployment of farms to countries where labor is        already available.

However, by eliminating this bias, we could deploy farms in desertswhere the small population does not have access to certain foodstuffs(by an unfavorable climate for example).

The aim of the present invention is to resolve or reduce at least one ofthe aforementioned drawbacks.

SUMMARY

This objective is achieved with a growing system, comprising:

-   -   at least one growing space comprising:        -   different locations, preferably for plants,        -   a robotic arm, preferably equipped with at least one tool        -   moving means arranged to move the robotic arm between these            different locations    -   electronic and/or computer communication means,    -   a control station remote from the at least one growing space and        comprising control means arranged to control the robotic arm of        each growing space via the communication means, the control        means being arranged to control the moving means so as to move        the robotic arm of this growing space between the different        locations of this growing space and/or to control actions of the        robotic arm of this growing space.

Each growing space preferably further comprises viewing means arrangedto capture an image of the locations and/or the robotic arm of thisgrowing space, the control station comprising display means arranged todisplay this image.

The display means preferably comprise a helmet and/or glasses designedto display the image to a user.

The control means preferably comprise the helmet and/or the glasses,arranged to move the viewing means according to a movement of the helmetand/or glasses.

The viewing means preferably comprise a camera arranged on the roboticarm, preferably at the end of the robotic arm equipped with at least onetool. The viewing means are preferably arranged to image objects in theabsence of visible radiation of between 400 and 800 nm. The viewingmeans may be arranged to capture an image of the locations at a solidangle of at least 2π steradians, preferably at a solid angle of 4πsteradians.

The control means preferably comprise means for controlling a movementof the robotic arm between the different locations, vertically and/orhorizontally.

The at least one growing space is preferably a vertical growing space,comprising at least one vertical stack of plant locations, preferablyseveral rows of vertical stacks of plant locations.

The moving means preferably comprise horizontal rails and/or verticalrails along which the robotic arm is arranged to move.

The at least one growing space is preferably an enclosed space. The atleast one growing space preferably comprises means for regulating and/ormeans for measuring at least one physical parameter within this growingspace, such as a temperature, a humidity, a CO₂ rate, a spectrometrymeasurement, a luminosity, and/or an ethylene rate.

The display means are preferably furthermore arranged to display the atleast one measured physical parameter.

Each growing space preferably includes a drawer arranged to switchbetween:

-   -   an internal position for which the container of the drawer is        accessible from inside this growing space but inaccessible from        outside of this growing space, and    -   an external position for which the container of the drawer is        accessible from outside this growing space but inaccessible from        inside this growing space,        the robotic arm of this growing space being preferably arranged        to pick plants and/or products in this growing space and deposit        them in the container of the drawer in its internal position,        the drawer preferably further comprising sterilization means        arranged to sterilize the container of the drawer, preferably by        ultraviolet radiation, when the drawer passes from its external        position to its internal position.

The system according to the invention preferably comprises severaldistinct growing spaces, the control station being shared for all thegrowing spaces.

The system according to the invention preferably further comprises:

-   -   means for building a database comprising, for each plant and/or        product of a plant, a monitoring over time:        -   of images of this plant and/or product, and/or        -   of physical parameters measured on this plant or product,            and    -   means for determining a status of this plant or product and/or a        recommended action for this plant or product from the data in        the database.

The system according to the invention preferably comprises means foranalyzing actions, on the plant or product, of a user of the controlstation, and computer and/or electronic learning means of a recommendedaction to be performed on a plant or product depending on its status.

The control means are preferably arranged to control the robotic armaccording to the recommended action without the intervention of a user.

The display means are preferably further arranged to display the statusor recommended action relating to the plant or product imaged by thedisplay means.

Each plant is preferably identified in the at least one growing space bya bar code.

According to another aspect of the invention, it is proposed a growingmethod implemented in a system comprising:

-   -   at least one growing space comprising:        -   different locations, preferably for plants,        -   a robotic arm, preferably equipped with at least one tool        -   moving means arranged to move the robotic arm between these            different locations    -   electronic and/or computer means of communication,    -   a control station remote from the at least one growing space and        comprising control means.

Said method preferably comprising the following steps

-   -   a control, by the control means, of the robotic arm of the at        least one growing space via the communication means, comprising:        -   a) a command, by the control means, of the moving means so            as to move the robotic arm of this growing space between the            different locations of this growing space and/or        -   b) a command, by the control means, of actions of the            robotic arm of this growing space, said actions comprising a            manipulation, by the robotic arm, of the plants and/or            products of these plants arranged in the locations.

Each growing space preferably further comprises viewing means capturingan image of the locations and/or the robotic arm of this growing space,the control station comprising display means displaying this image.

The display means preferably comprise a helmet and/or glasses displayingthe image to a user.

The control means preferably comprise the helmet and/or the glasses, themethod preferably further comprising a displacement of the viewing meansas a function of a movement of the helmet and/or the glasses.

The viewing means preferably comprise a camera arranged on the roboticarm, preferably at the end of the robotic arm equipped with at least onetool. The viewing means preferably image objects in the absence ofvisible radiation of between 400 and 800 nm. The viewing means maycapture an image of the locations at a solid angle of at least 2πsteradians, preferably at a solid angle of 4π steradians.

The control means preferably control a movement of the robotic armbetween the different locations, vertically and/or horizontally.

The at least one growing space is preferably a vertical growing space,comprising at least one vertical stack of plant locations, preferablyseveral rows of vertical stacks of plant locations.

The moving means preferably comprise horizontal rails and/or verticalrails along which the robotic arm moves.

The at least one growing space is preferably an enclosed space.

The at least one growing space preferably comprises means which regulateand/or measure at least one physical parameter within this growingspace, such as a temperature, a humidity, a CO2 rate, a spectrometrymeasurement, a brightness, and/or an ethylene rate.

The display means preferably display the at least one measured physicalparameter.

Each growing space preferably includes a drawer that goes between:

-   -   an internal position for which the container of the drawer is        accessible from inside this growing space but inaccessible from        outside this growing space, and    -   an external position for which the container of the drawer is        accessible from outside this growing space but inaccessible from        inside this growing space the robotic arm of this growing space        picking plants and/or products in this growing space and        depositing them in the container of the drawer in its internal        position the drawer preferably further comprising sterilization        means sterilizing the drawer container, preferably by        ultraviolet radiation, when the drawer moves from its external        position to its internal position.

The method according to the invention is preferably implemented in asystem comprising several distinct growing spaces, the control stationbeing shared for all the growing spaces.

Preferably, in the method according to the invention:

-   -   means build a database comprising, for each plant and/or product        of a plant, a monitoring over time:        -   of images of this plant and/or product, and/or        -   of physical parameters measured on this plant or product,            and    -   means determine a status of this plant or product from the data        in the database.

Preferably, the method according to the invention comprises an analysisof the actions, on the plant or product, of a user of the controlstation, and computer and/or electronic learning of a recommended actionto be performed on a plant or product. depending on its status.

Preferably, the control means control the robotic arm according to therecommended action without the intervention of a user.

Preferably, the display means further display the status or recommendedaction relating to the plant or product imaged by the display means.

Each plant is preferably identified in the at least one growing space bya bar code.

BRIEF DESCRIPTION OF THE DRAWINGS

Other advantages and features of the invention will become apparent onreading the detailed description of implementations and embodimentswhich are in no way limiting, and from the following appended drawings:

FIG. 1 is a schematic view of a first embodiment of system 1 accordingto the invention, which is the preferred embodiment of the invention,

FIG. 2 is a schematic view of a learning method implemented by the firstembodiment of system 1 according to the invention.

FIG. 3 is a perspective view of moving means 2 of the system 1,

FIG. 4 is a perspective view of a growing space 3 of the system 1,

FIG. 5 is a perspective view of a robotic arm 4 of the system 1,

FIG. 6 is a perspective view of the robotic arm 4 of the system 1,equipped with a first variant of tool 5,

FIG. 7 is a perspective view of the robotic arm 4 of the system 1,equipped with a second variant of tool 5, and

FIG. 8 is a perspective view of the robotic arm 4 of the system 1,equipped with a third variant of the tool 5.

DETAILED DESCRIPTION

Since these embodiments are in no way limiting, it is possible inparticular to consider variants of the invention comprising only aselection of characteristics described or illustrated below isolatedfrom the other characteristics described or illustrated (even if thisselection is isolated within of a sentence comprising these othercharacteristics), if this selection of characteristics is sufficient toconfer a technical advantage or to differentiate the invention from thestate of the prior art.

This selection comprises at least one preferably functionalcharacteristic without structural details, and/or with only part of thestructural details if this part alone is sufficient to confer atechnical advantage or to differentiate the invention from the state ofthe art. earlier.

We will first of all describe, with reference to FIGS. 1 to 8, a firstembodiment of the system according to the invention 1.

A growing space 3 will be described below, considering that all thegrowing spaces 3 include the same characteristics as the growing space 3described below and that the description of the system 1 or methodaccording to the invention will remain valid by replacing the growingspace 3 or farm 3 by “at least one farm or growing space” or “each farmor growing space”.

The growing space 3 includes different locations 6 for plants.

In FIG. 4, each cylindrical shape referenced 6 illustrates a maximumoccupancy volume provided for the plant located at this location 6.

In FIG. 4, it is also noted that the growing space 3 comprises lightsources 14 (typically comprising Electro Luminescent Diodes or LEDs)arranged to emit light 15, comprising at least one wavelength between400 nm and 800 nm, preferably at least one wavelength between 410 nm and490 nm and/or between 560 nm and 660 nm, preferably at least onewavelength between 410 nm and 490 nm and at least one wavelength wavebetween 560 nm and 660 nm.

The growing space 3 comprises a robotic arm 4 equipped with at least onetool 5.

The at least one tool 5 includes:

-   -   gripping means arranged to handle plants and/or products of        these plants arranged in the locations 6, and/or    -   at least one gardening tool 5 among scissors, basket, saw,        tongs, fruit cage, etc.

The farm 3 includes several tools 5 which are interchangeable on therobotic arm 4. By robotic arm is meant a set of mechanical partsconnected by at least one articulation, the movement of which isprovided by at least one motor. The arm 4 is an arm comprising 6 degreesof freedom. The arm is for example based on a “DOBOT® Magician”reference arm. It weighs about 3 kg. It is retractable, and has aretracted length of 15 cm and an extended length of 84 cm. It can liftabout 300 g. It is equipped with the viewing means 9 described below.The arm 4 is equipped with sensors 12 described below, including forexample a temperature sensor, a CO₂ sensor, a humidity sensor, a lightsensor, and/or a fruit maturity sensor (by spectrometry).

The sensors 12 on board the arm 4 are thus as close as possible to thelocations 6.

The growing space 3 comprises moving means 2 arranged to move therobotic arm 4 between these different locations 6.

The growing system 1 comprises electronic and/or computer communicationmeans 8. The communication means 8 include, for example, cloud computingor cloud computing means.

The growing system 1 comprises a control station 7 remote from thegrowing space 3 and comprising control means 17 arranged to control therobotic arm 4 of the growing space 3 via the communication means 8, thecontrol means 17 being arranged to control the moving means 2 so as tomove the robotic arm 4 of this growing space 3 between the differentlocations 6 of this growing space 3 and/or to control actions (such asgrabbing an object, handle (and/or plant, cuttings, pick, throw away) aplant and/or a product of a plant, take a measurement by a sensor 12 onboard the arm 4, actuate a tool 5 of the arm 4, etc.) of the robotic arm4 of this growing space 3.

Farm 3 and control station 7 are remote.

The means of communication 8 connect the farm 3 and the control station7.

Remote control saves space in farm 3 (there is no human needed inface-to-face in farm 3). It also helps prevent the entry of pathogensand pesticides that could enter with the back-and-forth trips made byfarmers.

The growing space 3 further comprises viewing means 9 arranged tocapture an image of the locations 6 and/or of the robotic arm 4 of thisgrowing space 3, the control station 7 comprising display means 10arranged to display this image.

These viewing means 9 comprise a camera, for example with the reference“intelrealsense D435i®”. Camera 9 is a three-dimensional or “3D” camerawhich sees:

-   -   at least 180° (i.e., which images at least 2π steradians) or at        360° (i.e., which images 4π steradians) at the end of robotic        arm 4, the cultivator user can then see between the leaves of        space 3 from the control station 7, which would be impossible in        person, where he would only see the surface of the canopy, or    -   at less than 180° (i.e., which image minus 2π steradians), to        reduce the latency times of the display of the image on the        display means 10.

The display means 10 comprise a helmet and/or glasses (typically avirtual reality device) designed to display the image to a user on thishelmet and/or on these glasses. The use of virtual reality headset 10allows immersion in the farm and a visit thereof by users who would liketo see how it works in real time. This can be used as a marketing oreducational object.

The display means 10 and/or the means 30, 31, 32, 33, and/or 34 canmodify or be arranged to modify the image captured by the viewing means9 before displaying it, typically so that the walls and/or elements orstructures of farm 3 are modeled in three dimensions (to give theimpression, for example, of being in a space larger than it appearsand/or lit by natural light) and/or so that the only dynamic objecttranscribed in real time is the plant imaged at its location 6 byviewing means 9. The user can therefore choose, by connecting to farm 3,the plant he wishes to take care of, via a menu displayed on displaymeans 10. It then appears in front of him, in a live stream. Tointegrate into this virtual environment, the plant is cut from the livefeed (or “live feed”) and inserted into the virtual environment.

The growing space 3 is a vertical growing space, comprising at least onevertical stack of locations 6 for plants, preferably several rows ofvertical stacks of locations 6 for plants. Each vertical stack istypically 3 meters high.

The moving means 2 comprise horizontal rails and/or vertical rails alongwhich the robotic arm 4 is arranged to move by means of motors. Thiseliminates the problem of space in height, by allowing the arm 4 to risefrom the ground level up to several meters high. To eliminate theproblem of space between the rows of plants, the first vertical rail 21is itself removable, on a horizontal rail 22 on the ceiling, and canthus move from right to left. It is therefore sufficient to leave aspace of 30 cm for the rail and the arm 4 to pass between the rows ofplants.

The rails 21 are typically metallic, preferably stainless steel.

The control means 17 include:

-   -   the helmet and/or the glasses 10, arranged to move the viewing        means 9 (typically in rotation) as a function of a movement        (typically in rotation) of the helmet and/or glasses; the helmet        10 is connected directly to the camera 9 placed on the arm 4.        Moving the helmet 10 moves the view of the camera 9 and allows a        360° view up/down and right/left, and/or    -   means (typically manual) for controlling a movement (typically        in translation) of the robotic arm 4 between the different        locations 6, vertically and/or horizontally. The means 17        typically comprise a lever arranged to control the motors on the        rails 21, 22, and therefore allows the arm 4 to go from right to        left and from top to bottom.    -   means (typically manual) for controlling an action of the        robotic arm 4. The means 17 typically include:        -   another lever arranged to control the arm 4 and its tool 5            (for example to tighten the equipped tool 5 (close the            scissors, pinch the pliers etc.)) and/or to control a            retraction or not of the arm 4 (typically over 60 cm in            length) to more or less insert arm 4 between the plants in            the same row, and        -   a 6-axis joint, one-handed grip type, arranged to choose            with more precision the place where to apply the tool 5.

With this system the user has a view throughout the farm 3 and access toeach plant or location 6.

The viewing means 9 comprise the camera placed on the robotic arm 4,preferably at the end of the robotic arm 4 equipped with at least onetool 5.

The viewing means 9 are arranged to image objects in the absence ofvisible radiation between 400 and 800 nm.

The viewing means 9 typically comprise an infrared camera.

The growing space 3 is an enclosed space. Thus, the arm 4 is notconfigured to leave the space 3, and no human needs to enter it. Thus,no pathogen can enter space 3 because space 3 is completely closed(apart from at least one drawer 13 and the necessary vents which aretreated with ultraviolet radiation).

The growing space 3 comprises regulating means or actuators 11 and/ormeasuring means or sensors 12 of at least one physical parameter withinthis growing space 3, such as temperature, humidity, temperature, CO₂rate, spectrometry measurement, luminosity, and/or ethylene rate.

The growing space 3 comprises mobile electronic means 16, also calledmobile card 16.

The growing space 3 comprises electronic means 18 called static, alsocalled static card 18.

Typically, each of the cards 16, 18 comprises at least one computer, acentral or computing unit, an analog electronic circuit (preferablydedicated), a digital electronic circuit (preferably dedicated), and/ora microprocessor (preferably dedicated), and/or software resources.

The mobile card 16 is so called because it is associated with the mobilerobotic arm 4.

The card 16 is designed to serve as an interface between the sensors 12and the communication means 8, 81.

The sensors 12 can thus be as close as possible to or in contact witheach plant.

The card 16 sends data from sensors 12 to Cloud 81.

The card 16 indicates the activation thresholds (minimum and maximum) ofactuators 11 to static card 18.

The card 16 controls motorized arm 4.

The mobile card 16 is typically a “Raspberry Pi Zero W” ® referencecard.

Sensors 12 typically include:

-   -   a CO₂ sensor, for example with reference T6713 from the company        “Am phenol” ®, and/or    -   a spectrometer, and/or    -   a temperature sensor, for example with reference MIKROE-2937        from the company Shenzhen Feisi Diya Technology Co., Ltd.,        and/or    -   a brightness sensor, for example reference MIKROE-1903 from the        company Shenzhen Zhaoxing Microelectronics Co., Ltd, and/or    -   an ethylene sensor, for example reference MQ-3 from the company        “Waveshare®”, and/or    -   a humidity sensor, for example reference MIKROE-2937 from the        company Shenzhen Feisi Diya Technology Co., Ltd.

The static card 18 is arranged to activate the actuators 11 disseminatedin the farm 3 when the records of the sensors 12 require it. The card 16is designed to serve as an interface between the actuators 11 and thecommunication means 8 and/or the sensors 12.

The card 18 controls the power supply to all elements of farm 3.

The actuators 11 typically comprise a CO₂ pump, means for regulating thetemperature (an air conditioner and/or a heater), means for regulatingthe brightness (i.e., means for controlling sources 14), means forregulating humidity (i.e., typically air circulation pump withcontrolled humidity and/or humidity diffuser), and/or means forregulating CO₂ or ethylene (i.e., typically fresh air circulation pumpand/or source of CO₂ and/or ethylene).

The card 18 is typically a “DEV-13907 SparkFun ESP32 Thing” referencecard.

The display means 10 are furthermore arranged to display the at leastone measured physical parameter.

The growing space 3 includes at least one drawer 13. Each drawer 13 isarranged to pass between:

-   -   an internal position for which the container of the drawer 13 is        accessible from inside this growing space 3 but inaccessible        from outside this growing space 3, and    -   an external position for which the container of the drawer 13 is        accessible from outside this growing space 3 but inaccessible        from inside this growing space 3, the robotic arm 4 of this        growing space 3 being arranged to pick plants and/or products in        this growing space 3 and deposit them in the container of the        drawer 13 in its internal position the drawer 13 further        comprising sterilization means arranged to sterilize the        container and/or the contents of the drawer 13, preferably by        ultra violet radiation (i.e. by at least one wavelength between        10 nm and 380 nm, preferably between 180 nm and 380 nm), when        the slide 13 moves from its external position to its internal        position.

This decontamination is therefore arranged to destroy bacteria and/orviruses inside the drawer 13.

The at least one drawer 13 can include:

-   -   at least one refrigerated drawer 13 i.e., arranged to maintain        the container of the drawer 13 at a temperature below a        threshold value; typically less than 12° C., preferably less        than 5° C., for plants or products to be preserved or consumed,        and/or    -   at least one non-refrigerated drawer 13, for waste.

The system 1 comprises several separate growing spaces 3, the controlstation 7 being shared for all growing spaces 3.

In other words, the same control station 7, remote from each growingspace, comprises the same control means 17 which are arranged to controlthe robotic arm of each growing space via the means of communication,the control means being arranged to control the moving means so as tomove the robotic arm each growing space between the different locationsof this growing space and/or to control actions of the robotic arm ofeach growing space.

Each growing space 3 is an enclosed space separate from each of theother growing spaces 3.

Each growing space 3 is distant from each of the other growing spaces 3by a distance of at least 10 meters, preferably at least 1 km, morepreferably at least 10 km.

In some embodiments, each growing space 3 is even distant from each ofthe other growing spaces 3 by a distance of at least 100 km or 1000 km.

System 1 further includes:

-   -   means 31 for building a database comprising, for each plant        and/or product of a plant, monitoring over time (in the form of        a meta-film):        -   images of this plant and/or product, and/or        -   physical parameters measured on this plant or product, and    -   means 32 for determining a status of this plant or product        and/or a recommended action for this plant or product from the        data in the database.

A meta-film is therefore a sub-part of the database.

The system comprises means 33 for analyzing actions, on the plant orproduct, of a user of the control station 7, and means 34 for computerand/or electronic learning of a recommended action to be performed on aplant or produced according to its status.

Preferably, all the means 31, 32, 33, and 34 comprise the same technicalmeans 30.

Typically, each of the means 30, 31, 32, 33 and 34 comprises at leastone computer, a central or computing unit, an analog electronic circuit(preferably dedicated), a digital electronic circuit (preferablydedicated), and/or a microprocessor (preferably dedicated), and/orsoftware means.

The means 30 typically comprise an Artificial Intelligence (AI) 30stored in the communication means 8 (i.e., on the Cloud 81).

The control means 17 and/or AI 30 are arranged to control (ifapplicable) the robotic arm 4 according to the recommended actionwithout the intervention of a user of the station 7.

The display means 10 are furthermore arranged to display the status orthe recommended action concerning the plant or product imaged by theviewing means 9.

Each plant is identified in the growing space 3 by a barcode.

As illustrated in FIG. 5, the arm 4 comprises a connector 51 arranged toconnect and fix a tool 5 to the arm 4 among the different tools 5available. The connector 51 includes electrical connections 52 forsupplying electric power and sending control signals to the tool 5connected to the arm 4. The connector 51 comprises at least one latch 53(typically coil latch) for keeping the tool 5 connected to the arm 4fixed to the arm 4. The connector 51 comprises at least one form ofcentering 54 to facilitate centering of the tool 5 connected to the arm4.

The tool 5 is interchangeable directly in the farm 3, which makes itpossible to develop the applications of the arm 4 at the same time asthe applications of the farm 3.

A volume on the path of the moving means 2, 21, 22 transporting the arm4 is allocated to changing the tool 5: the arm 4 places the tool used 4in this dedicated volume, it dissociates from it, then seizes itself ofthe new tool 5 before binding to it.

The 5 tools available in farm 3 include for example:

-   -   clamps 55 (as illustrated in FIG. 6). A motor makes it possible        to change the inclination of the clamp 55 around an axis of        rotation 58. A motor makes it possible to vary the opening 59 of        the clamps. The clamp 55 allows:        -   to grab the baskets in which the plants grow to lift them            and check the condition of the roots and the plumbing            various maintenance operations in farm 3        -   to grab the seeds in a special packaging to be grabbed by            this tip. The packaging must simply be placed in the growing            basket to activate the germination of the seed    -   motorized scissors 56 combined with a basket 57 (as illustrated        in FIG. 8) and/or wide motorized blades 60 combined with a        basket 57 (as illustrated in FIG. 7): this allows the cuttings        and the picking of aromatics (the herbs are collected by the        basket and placed in a drawer 13 provided with a cooler and        intended for crops), the weeds are collected by the basket 57        and thrown (via at least one drawer 13) outside the farm so as        not to not let them rot.

The arm 4 is therefore capable of planting, cutting, picking andmaintaining by means of a remote pilot.

We will now describe a first embodiment of the growing and/or learningmethod according to the invention, implemented in the system 1.

This embodiment comprises the following steps for a growing space 3(also called farm 3 in the present description) given of the system 1.

This growing space 3 regulates (by actuators 11) and/or measure (bysensors 12) at least one physical parameter within this growing space 3,such as temperature, humidity, CO₂ rate, a spectrometry measurement, aluminosity, and/or an ethylene rate.

For example, if the optimal growing conditions do not match theconditions in farm 3 (the temperature drops, the light is turned off fortoo long etc.), the AI 30 automatically activates the actuators 11disseminated in farm 3 to restore normal conditions. If nothing changeswithin the hour, it deduces that there is a malfunction and sends analert message to the operator.

Each measured parameter is stored in the database.

In the mapping step 101, each plant is identified in at least onegrowing space 3 by a bar code. Farm 3 is organized so that each plant isidentified by a geographical location 6 entered manually by the user(for example, row 2, bin 3, plant 4=tomato) from the control station 7,and at each new species the user (also called operator or cultivator orfarmer or user or pilot in the present description) completes thedatabase and can manually enter information (species, optimumtemperature, required brightness etc.). Other data will be added byArtificial Intelligence (AI) as it learns for this species, as explainedbelow.

The means 9 know the path of the robotic arm 4 (to which they areattached) and all the possible locations 6 of plants within the farm 3.Each of these locations is identified in the database as empty or busy.In the event that a plant grows there, the bar code identifying it readby means 9, makes it possible to mention automatically, and notmanually, location, date of planting and type of plant (example: row 2,tray 3, plant 4=beef heart tomato, planted Sep. 3, 2019). However, theuser can modify/supplement the database manually.

A step 102 of constructing a meta-film is carried out periodically, forexample every 5 hours. During each iteration of step 102, robotic arm 4automatically moves through farm 3 and analyzes each plant. At eachiteration of step 102, the following are recorded (step 103) in themeta-film for each plant or location 6:

-   -   at least one photo of the plant,    -   information (number, color, and/or size) on a recognition of at        least one product (said product typically being a stem, leaf,        fruit, vegetable, root, onion, and/or flower) of this plant; and        or    -   information on a stage or status of the plant (one among        germination, vegetative, flowering, fruiting, death); and or    -   information on a recommended action on the plant (one among        nothing, planting, cutting, picking, discarding)); and or    -   physical parameters relating to the plant (measured by means        12): humidity, temperature, CO₂, maturity.

Image recognition is carried out by learning, when a new elementappears, the AI 30 tries to guess its nature, to which the operator canrespond remotely with “yes” or “no”

-   -   a) “No” generates another proposition by the AI 30    -   b) “Yes” causes the data of this element to be recorded in the        matrix of the said plant in order to recognize it later.

For each plant, the meta-film is stored on cloud 81. This informationrelates to seed growth until death for each plant. A virtual universecan be created with this information to accelerate the learning of theAI 30.

A command of an action by the user, from the control station 7, acts onthe growing space 3, this action comprising:

-   -   A displacement of the viewing means 9 of this growing space 3,        preferably a rotation of the viewing means 9 as a function of a        rotational movement of the helmet and/or the glasses 10 worn by        the user, and/or a translation of the viewing means 9 (carried        by the arm 4) as a function of a movement on the control means        17 (typically on the joystick) moving the arm 4 and therefore        simultaneously the viewing means 9, and/or    -   A control, by the control means 17, of the robotic arm 4 of the        at least one growing space 3 via the communication means 8,        comprising:        -   a) a control (step 104), by the control means 17, of the            moving means 2 so as to move the robotic arm 4 of this            growing space 3 between the different locations 6 of this            growing space 3; the control means 17 control a movement of            the robotic arm 4 between the different locations 6,            vertically and/or horizontally, by moving the arm 4 along            the horizontal rails 22 and/or the vertical rails 21 and/or        -   b) a control (step 111), by the control means 17, of actions            of the robotic arm 4 of this growing space 3, said actions            comprising a manipulation, by the robotic arm 4, of the            plants and/or products of these plants arranged in locations            6. For example, the robotic arm 4 of this growing space 3            collects plants and/or products in this growing space 3 and            places them in the container of the drawer 13 in its            internal position; then the drawer 13 passes from its            internal position to its external position; then the            contents of the drawer 13 are withdrawn from the drawer 13;            then the drawer 13 moves from its external position to its            internal position and the sterilization means of the drawer            13 sterilize the container of the drawer 13, preferably by            ultraviolet radiation, when the drawer moves from its            external position to its internal position. This allows the            elimination of any contaminants before returning to farm 3.

For example, the operator begins to position (step 104) the arm 4 infront of a plant or location 6 by means of the means 17.

The display means 10 display at least one measured physical parameterand/or a recommended action (determined as described below) and/or datarelating to the plant being displayed on the means 10.

The information from the database is displayed on the means 10 of theoperator when he looks at the plant in question with the camera 9 of therobotic arm 4, according to an “augmented reality” process. He also hasaccess to information from sensors 12 in real time: for example, he islooking at a tomato, at the top left he sees the species, its dateplanting, its optimum temperature, etc. at the top right of the screenit can see the current temperature of the farm etc.

The viewing means 9 of this growing space 3 capture an image of thelocations and/or the robotic arm 4 of this growing space 3 (even in theabsence of visible radiation between 400 and 800 nm), and the displaymeans (i.e., headset and/or glasses 10) display this image to a user.Thus, the camera 9 allows to see the farm 3 even at night (night vision)without disturbing the growth of the plants which could be awakened withonly a few photons and could leave the flowering stage to return to thevegetative stage if the light cycles are not respected. The farm 3 istherefore accessible any day of the year and at any time.

When the operator looks at this plant or location 6 via the means 9 and10, the AI 30 accesses the database (step 105) then analyzes the changesin the meta-film of this plant since its last connection (step 106) andguess (step 107) in which stage the plant is (among the fiveaforementioned). The operator can then validate (step 108) with “yes” or“no” and this information which is stored in the database of the plant.

The AI 30 then proposes (step 109) an action (among the fiveaforementioned) recommended for this plant. The operator can thenvalidate (step 110) with “yes” or “no” and this information is stored inthe database of the plant. Then (step 111):

-   -   in the event of “yes”: the operator controls, by the control        means 17, the action of the arm 4 or the control means 17 and/or        the AI 30 control the robotic arm 4 according to the action        recommended without intervention of” a user of extension 7    -   in the event of “no”, the operator himself controls, by the        control means 17, the action of the arm 4.

The AI 30 then records (step 112) the movement of the robotic armcontrolled by the operator for this action (it learns “How to performthe action”).

Thus, each plant has a sub-part of the database which is filled as thefarms 3 are used and will lead after a few years to a perfect autonomyof the farms for the plants studied by the AI 30. Thus, this embodimentof the method according to the invention comprises learning, saidlearning comprising:

-   -   a construction of a database comprising, for each plant and/or        product of a plant, a monitoring over time:        -   of images of this plant and/or product, and/or        -   of physical parameters measured on this plant or product,            and    -   a determination of the status of this plant or product and/or a        recommended action for this plant or product from the data in        the database.

The learning further comprises an analysis of the actions, on the plantor product, of a user of the control station 7, and computer and/orelectronic learning of a recommended action to be carried out on a plantor product as a function of his status.

Following this learning:

-   -   the display means 10 also display the status (step 108) or the        action (step 110) recommended concerning the plant or product        imaged by the viewing means 9; the user remains in the control        station 7, and is helped in his decision to take actions (step        111) himself, or    -   the control means 17 and/or the AI 30 control the robotic arm 4        according to the recommended action without the intervention of        a user; the user then no longer needs to be present in the        control station 7, which corresponds to the autonomy stage of        the system 1.

The AI 30, for this learning, recognizes the image, stage, action to beperformed, etc. all from data obtained under control and of which weknow the desired result. The remote operator observes in real time andcan correct/validate the choice of the AI 30. It is therefore asupervised type learning technology, preferably implemented by a neuralnetwork.

The AI 30 varies or is arranged to vary the actuators 11 from theirinitial conditions to itself create a new set of random data (such asfor example increasing the temperature, increasing the calcium, etc.).Rewards or punishments are allocated to it based on the result,typically including:

-   -   a punishment if a plant is dead or if less satisfactory results        are obtained than with the initial conditions, or    -   a reward if the growth of the plant is accelerated, or if the        fruits are larger, more colorful (with this set of qualitative        data, the farm can exercise these experiments independently).

These results for awarding a punishment or reward may include:

-   -   a score assigned by the operator on the taste of the product        after leaving the farm, and/or    -   a content of a product in the plant, for example hyperspectral        to measure for example the sugar content of the plant, and/or        chlorophyll (in herbs) . . .

It is a reinforcement learning, which can use a known reinforcementlearning solution. This learning is much faster with a starting point,that is to say the plant database (entered manually by the operatormainly at the level of climatic and nutritional recipes). For example,we know that the temperature of such a plant is set at 26° C. to havesatisfactory growth and the AI 30 can start to vary at 27, 28 or 24, 25°C., the expected results for each condition being probably in a range ofdata close to the initial data.

This learning by reinforcement, unlike the previous supervised learning,makes it possible to induce stress on the plants (too high temperaturefor a short time, stop watering, increase in the force of the wind) andto deduce from it those capable of improve the quality of products, andtherefore refine the growth conditions initially entered.

Control station 7 is shared for all growing spaces 3. Thus, each of thepreceding and/or following stages can be (preferably all the precedingstages are) preferably implemented for all the growing spaces 3.

In particular, the method comprises the following steps:

-   -   a control, by the same control means belonging to the same        control station 7, of the robotic arm of each growing space via        the means of communication, comprising:        -   a) a command, by the control means, of the moving means so            as to move the robotic arm of each growing space between the            different locations of this growing space and/or        -   b) a command, by the control means, of actions of the            robotic arm of each growing space, said actions comprising a            manipulation, by the robotic arm, of the plants and/or of            products of these plants arranged in the locations.

With the help of this system 1, the same user farmer (typically trainedin France) can in the comfort of his office take care of multiplegrowing spaces 3 disseminated anywhere in the world provided that aninternet connection allow access to these spaces 3. The farms 3 areconnected to each other, and share the software (AI 30) present on thecloud 81. Therefore, the more farms 3 there are, the faster thelearning.

Farms 3 are connected to each other by WIFI.

The arm 4 and the camera 9 communicate by WIFI with the virtual realityheadset 10 which on which is broadcast a live feed via a virtual reality(VR) application coded in the development environment virtual realityheadset 10 (which is typically an “oculus rift” model headset).

The live feed of each camera 9 is sent to the cloud 8, 81 along with theinformation from the sensors 12.

It is on cloud 8, 81 that the calculations are performed by the AI 30and the stored database. Then, from the cloud 8, 81 the information issent to the virtual reality headset 10 to give the user the opportunityto see the plant in 3D and to act on it using the joysticks 17. Thevideo sent to the virtual reality headset 10 is superimposed on theinformation that helps the operator to make a decision (ethylenereading, from the spectrometer, analysis of the AI 30: plant health,plant stage, size of the fruit, weight of it evaluated by the roboticarm etc.)

Of course, the invention is not limited to the examples which have justbeen described and numerous modifications can be made to these exampleswithout departing from the scope of the invention.

1.-21. (canceled)
 22. A growing system, comprising: at least one growingspace comprising: different plant locations for receiving plants, arobotic arm equipped with at least one tool, and a moving deviceconfigured to move the robotic arm between the different plantlocations, and a control station remote from the at least one growingspace and comprising a controller configured to control the robotic armof each growing space, the controller being configured to control themoving device so as to move each robotic arm of the correspondinggrowing space between the different plant locations of the growing spaceand/or to control actions of the robotic arm.
 23. The growing systemaccording to claim 22, wherein each growing space further comprises animaging device configured to capture an image of the corresponding plantlocations and/or of the corresponding robotic arm, the control stationcomprising a display configured to display the captured image.
 24. Thegrowing system according to claim 23, wherein the display comprises ahelmet and/or glasses configured to display the captured image to auser.
 25. The growing system according to claim 24, wherein thecontroller comprises the helmet and/or the glasses, the controller beingfurther configured to move the imaging device according to a movement ofthe helmet and/or the glasses.
 26. The growing system according to claim23, wherein the viewing device comprises a camera arranged on therobotic arm, preferably at an end of the robotic arm which is equippedwith the at least one tool.
 27. The growing system according to claim23, wherein the imaging device is configured to image objects in theabsence of visible radiation between 400 and 800 nm.
 28. The growingsystem according to claim 23, wherein the imaging device is configuredto capture an image of the plant locations at a solid angle of at least2π steradian, preferably at a solid angle of 4π steradian.
 29. Thegrowing system according to claim 22, wherein the controller isconfigured to control a movement of the robotic arm between thedifferent plant locations, vertically and/or horizontally.
 30. Thegrowing system according to claim 22, wherein the at least one growingspace is a vertical growing space, comprising at least one verticalstack of plant locations, preferably a plurality of rows of verticalstacks of plant locations.
 31. The growing system according to claim 22,wherein the moving device comprises horizontal rails and/or verticalrails along which the robotic arm is configured to move.
 32. The growingsystem according to claim 22, wherein the at least each growing space isan enclosed space.
 33. The growing system according to claim 22, whereinthe at least one growing space comprises a regulator and/or a sensorconfigured to measure at least one physical parameter within the growingspace, such as a temperature, a humidity, a CO₂ rate, a spectrometricmeasurement, a luminosity, and/or an ethylene rate.
 34. The growingsystem according to claim 33, wherein each growing space furthercomprises an imaging device configured to capture an image of thecorresponding plant locations and/or of the corresponding robotic arm,the control station comprising a display configured to display thecaptured image, the display being further configured to display the atleast one measured physical parameter.
 35. The growing system accordingto claim 22, wherein each growing space includes a drawer configured toswitch between: an internal position wherein a container of the draweris accessible from inside the growing space but inaccessible fromoutside the growing space, and an external position wherein thecontainer of the drawer is accessible from outside the growing space butinaccessible from inside the growing space, the robotic arm beingconfigured to pick plants and/or products in the corresponding growingspace and deposit them in the container of the drawer in its internalposition, the drawer further comprising a sterilization deviceconfigured to sterilize the container of the drawer, preferably byultraviolet radiation, when the drawer switches from its externalposition to its internal position.
 36. The growing system according toclaim 22, wherein the growing system comprises a plurality of distinctgrowing spaces, the control station being shared for all the growingspaces.
 37. The growing system according to claim 22, wherein thecontroller is further configured to: store a database comprising, foreach plant and/or product of a plant, a monitoring over time: of imagesof the plant and/or product, and/or of physical parameters measured onthe plant or product, and determine a status of the plant or productand/or a recommended action for the plant or product from based on datastored in the database.
 38. The growing system according to claim 37,wherein the controller is further configured to analyze actions, on theplant or product, of a user of the control station, and learn arecommended action to be performed on a plant or product depending onthe status of the plant or product.
 39. The system according to claim37, wherein the controller is configured to control the robotic armaccording to the recommended action without an intervention of a user.40. The growing system according to claim 37, wherein each growing spacefurther comprises an imaging device configured to capture an image ofthe corresponding plant locations and/or of the corresponding roboticarm, the control station comprising a display configured to display thecaptured image, the display being further configured to display thestatus or recommended action relating to the plant or product imaged bythe imaging device.
 41. The growing system according to claim 22,wherein each growing space includes a bar code to identify therespective plant.
 42. A growing method, implemented in a systemcomprising: at least one growing space comprising: different plantlocations for receiving plants, a robotic arm equipped with at least onetool, and a moving device configured to move the robotic arm between thedifferent plant locations, a control station remote from the at leastone growing space and comprising a controller, the growing methodincluding: using the controller to control the moving device so as tomove the robotic arm of the growing space between the differentcorresponding plant locations and/or using the controller to controlactions of the robotic arm of the growing space, the actions comprisinga manipulation, by the robotic arm, of the plants and/or products of theplants arranged in the plant locations.